@Ahmed Essam, Thanks for posting in Q&A. From your description, it seems you want to do Autopilot Hybrid Azure AD join. If there's any misunderstanding, feel free to let us know.
Based as I know, the domain join is done by Intune connector after we apply domain join profile. Instead we do domain join manually. Here is a link list the detailed steps to do this for your reference::
https://learn.microsoft.com/en-us/autopilot/tutorial/user-driven/hybrid-azure-ad-join-workflow
Hope the above information can help.
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